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modified according to CUDA 4.0 API updates

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This commit is contained in:
Vladislav Vinogradov
2011-05-31 08:31:10 +00:00
parent 98d663e7e0
commit 926a6bba00
40 changed files with 1134 additions and 1818 deletions
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91
modules/gpu/src/stereobp.cpp
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@@ -53,10 +53,8 @@ void cv::gpu::StereoBeliefPropagation::estimateRecommendedParams(int, int, int&,
cv::gpu::StereoBeliefPropagation::StereoBeliefPropagation(int, int, int, int) { throw_nogpu(); }
cv::gpu::StereoBeliefPropagation::StereoBeliefPropagation(int, int, int, float, float, float, float, int) { throw_nogpu(); }
void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat&, const GpuMat&, GpuMat&) { throw_nogpu(); }
void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat&, const GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat&, GpuMat&) { throw_nogpu(); }
void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
#else /* !defined (HAVE_CUDA) */
@@ -133,7 +131,7 @@ namespace
CV_Assert(rthis.msg_type == CV_32F || (1 << (rthis.levels - 1)) * scale * rthis.max_data_term < numeric_limits<short>::max());
}
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp, cudaStream_t stream)
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp, Stream& stream)
{
typedef void (*comp_data_t)(const DevMem2D& left, const DevMem2D& right, const DevMem2D& data, cudaStream_t stream);
static const comp_data_t comp_data_callers[2][5] =
@@ -154,16 +152,16 @@ namespace
const int min_image_dim_size = 2;
CV_Assert(min(lowest_cols, lowest_rows) > min_image_dim_size);
init();
init(stream);
datas[0].create(rows * rthis.ndisp, cols, rthis.msg_type);
comp_data_callers[rthis.msg_type == CV_32F][left.channels()](left, right, datas[0], stream);
comp_data_callers[rthis.msg_type == CV_32F][left.channels()](left, right, datas[0], StreamAccessor::getStream(stream));
calcBP(disp, stream);
}
void operator()(const GpuMat& data, GpuMat& disp, cudaStream_t stream)
void operator()(const GpuMat& data, GpuMat& disp, Stream& stream)
{
CV_Assert((data.type() == rthis.msg_type) && (data.rows % rthis.ndisp == 0));
@@ -176,14 +174,14 @@ namespace
const int min_image_dim_size = 2;
CV_Assert(min(lowest_cols, lowest_rows) > min_image_dim_size);
init();
init(stream);
datas[0] = data;
calcBP(disp, stream);
}
private:
void init()
void init(Stream& stream)
{
u.create(rows * rthis.ndisp, cols, rthis.msg_type);
d.create(rows * rthis.ndisp, cols, rthis.msg_type);
@@ -193,10 +191,20 @@ namespace
if (rthis.levels & 1)
{
//can clear less area
u = zero;
d = zero;
l = zero;
r = zero;
if (stream)
{
stream.enqueueMemSet(u, zero);
stream.enqueueMemSet(d, zero);
stream.enqueueMemSet(l, zero);
stream.enqueueMemSet(r, zero);
}
else
{
u.setTo(zero);
d.setTo(zero);
l.setTo(zero);
r.setTo(zero);
}
}
if (rthis.levels > 1)
@@ -211,10 +219,20 @@ namespace
if ((rthis.levels & 1) == 0)
{
u2 = zero;
d2 = zero;
l2 = zero;
r2 = zero;
if (stream)
{
stream.enqueueMemSet(u2, zero);
stream.enqueueMemSet(d2, zero);
stream.enqueueMemSet(l2, zero);
stream.enqueueMemSet(r2, zero);
}
else
{
u2.setTo(zero);
d2.setTo(zero);
l2.setTo(zero);
r2.setTo(zero);
}
}
}
@@ -229,7 +247,7 @@ namespace
rows_all[0] = rows;
}
void calcBP(GpuMat& disp, cudaStream_t stream)
void calcBP(GpuMat& disp, Stream& stream)
{
using namespace cv::gpu::bp;
@@ -259,6 +277,8 @@ namespace
const int funcIdx = rthis.msg_type == CV_32F;
cudaStream_t cudaStream = StreamAccessor::getStream(stream);
for (int i = 1; i < rthis.levels; ++i)
{
cols_all[i] = (cols_all[i-1] + 1) / 2;
@@ -266,7 +286,7 @@ namespace
datas[i].create(rows_all[i] * rthis.ndisp, cols_all[i], rthis.msg_type);
data_step_down_callers[funcIdx](cols_all[i], rows_all[i], rows_all[i-1], datas[i-1], datas[i], stream);
data_step_down_callers[funcIdx](cols_all[i], rows_all[i], rows_all[i-1], datas[i-1], datas[i], cudaStream);
}
DevMem2D mus[] = {u, u2};
@@ -280,9 +300,9 @@ namespace
{
// for lower level we have already computed messages by setting to zero
if (i != rthis.levels - 1)
level_up_messages_callers[funcIdx](mem_idx, cols_all[i], rows_all[i], rows_all[i+1], mus, mds, mls, mrs, stream);
level_up_messages_callers[funcIdx](mem_idx, cols_all[i], rows_all[i], rows_all[i+1], mus, mds, mls, mrs, cudaStream);
calc_all_iterations_callers[funcIdx](cols_all[i], rows_all[i], rthis.iters, mus[mem_idx], mds[mem_idx], mls[mem_idx], mrs[mem_idx], datas[i], stream);
calc_all_iterations_callers[funcIdx](cols_all[i], rows_all[i], rthis.iters, mus[mem_idx], mds[mem_idx], mls[mem_idx], mrs[mem_idx], datas[i], cudaStream);
mem_idx = (mem_idx + 1) & 1;
}
@@ -291,12 +311,21 @@ namespace
disp.create(rows, cols, CV_16S);
out = ((disp.type() == CV_16S) ? disp : (out.create(rows, cols, CV_16S), out));
out = zero;
output_callers[funcIdx](u, d, l, r, datas.front(), out, stream);
if (stream)
stream.enqueueMemSet(out, zero);
else
out.setTo(zero);
output_callers[funcIdx](u, d, l, r, datas.front(), out, cudaStream);
if (disp.type() != CV_16S)
out.convertTo(disp, disp.type());
{
if (stream)
stream.enqueueConvert(out, disp, disp.type());
else
out.convertTo(disp, disp.type());
}
}
StereoBeliefPropagation& rthis;
@@ -323,28 +352,16 @@ namespace
};
}
void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp)
{
::StereoBeliefPropagationImpl impl(*this, u, d, l, r, u2, d2, l2, r2, datas, out);
impl(left, right, disp, 0);
}
void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp, Stream& stream)
{
::StereoBeliefPropagationImpl impl(*this, u, d, l, r, u2, d2, l2, r2, datas, out);
impl(left, right, disp, StreamAccessor::getStream(stream));
}
void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& data, GpuMat& disp)
{
::StereoBeliefPropagationImpl impl(*this, u, d, l, r, u2, d2, l2, r2, datas, out);
impl(data, disp, 0);
impl(left, right, disp, stream);
}
void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& data, GpuMat& disp, Stream& stream)
{
::StereoBeliefPropagationImpl impl(*this, u, d, l, r, u2, d2, l2, r2, datas, out);
impl(data, disp, StreamAccessor::getStream(stream));
impl(data, disp, stream);
}
#endif /* !defined (HAVE_CUDA) */